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Bushwhackr
01-31-2007, 08:29 PM
I recently received a Bioloid Comprehensive kit and I've been building several of the easier robots before tackling the humanoid. I've had no problems at all until I finished the Probing Robot. It didn't work correctly, so I started looking at the bpg file "DemoExample(Probing Robot).bpg."


The problem is in lines 66, 67, and 68 of the program. As originally written, they are:


66. IF (5:8 != 0) THEN LOAD 5:8 <- 0
67. IF (6:8 != 0) THEN LOAD 6:8 <- 0
68. IF (7:8 != 0) THEN LOAD 7:8 <- 0


I noticed that this put dynamixels 5, 6, and 7 in free turn mode instead of joint mode, so I made the following changes:


66. IF (5:8 != 0) THEN LOAD 5:8 <- 1023
67. IF (6:8 != 0) THEN LOAD 6:8 <- 1023
68. IF (7:8 != 0) THEN LOAD 7:8 <- 1023


This caused the robot to work correctly, but the following error message appeared.


ERROR:8100[0115] 005 003 032 030


I made the following changes, and the error message disappeared:


66. IF (5:8 = 0) THEN LOAD 5:8 <- 1023
67. IF (6:8 = 0) THEN LOAD 6:8 <- 1023
68. IF (7:8 = 0) THEN LOAD 7:8 <- 1023


The error message also appeared if I changed to this:


66. LOAD 5:8 <- 1023
67. LOAD 6:6 <- 1023
68. LOAD 7:8 <- 1023


I'm mystified as to why the error appeared and how to interpret it, but it seems to be related to loading 1023 into address 8 of the dynamixel.


There are two other problems with the program as written. The first is in line 36, which is:


36. IF (Watching time > Watching time) THEN JUMP Avoid obstacle


The correct line should be similar to line 25:


36. IF (Watching time > Reference time) THEN JUMP Avoid obstacle


The last problem is in line 28, which is:


28. LOAD Watching time <- 3


I think this should be similar to line 19:


28. LOAD Watching time <- 1


With these changes everything runs smoothly!!


(By the way, I have CM-5 version 1.15 and BCP version 1.27)

Matt
01-31-2007, 08:35 PM
Thanks for the tip Bushwhackr. It's very much appreciated when people let others know about these things. It helps everyone in the community.